Apparatus and method for controlling reverse driving

Abstract

Disclosed are an apparatus and a method for controlling a reverse driving. The apparatus includes: a movement trace storage unit configured to detect and store the movement trace of the vehicle moving forward; a restricted driving area identifier configured to identify a restricted driving area, based on at least one of the processing result of the image data, the location information, and pre-stored map information; a reverse driving path determiner configured to identify whether a reverse driving request signal is received when the restricted driving area is identified, generate one or more driving paths, based on, the stored movement trace when the reverse driving request signal is received, and determine the reverse driving path, based on the one or more driving paths; and a movement controller configured to control movement of the vehicle to reverse the vehicle along the reverse driving path. The present disclosure has an effect of providing driving convenience by controlling a reverse driving when a vehicle enters a dead end or a one-way street by mistake.

What is claimed is: 
     
       1. An apparatus for controlling a reverse driving, the apparatus comprising:
 an image sensor operable to be disposed on a vehicle so as to have a field of view of an exterior of the vehicle, the image sensor being configured to capture image data; 
 a location information receiver configured to receive location information of the vehicle; and 
 a controller comprising at least one processor configured to process at least one of the image data captured by the image sensor and the location information, 
 wherein the controller identifies a restricted driving area, based on at least one of a processing result of the image data and the location information, determines a reverse driving path, based on a pre-stored movement trace of the vehicle when the restricted driving area is identified, and controls movement of the vehicle to reverse the vehicle along the reverse driving path, 
 wherein the controller is configured to:
 detect and store the movement trace of the vehicle moving forward; 
 identify a restricted driving area, based on at least one of the processing result of the image data, the location information, and pre-stored map information; 
 identify whether a reverse driving request signal is received when the restricted driving area is identified, generate one or more driving paths, based on, the stored movement trace when the reverse driving request signal is received, and determine the reverse driving path, based on the one or more driving paths; and 
 control movement of the vehicle to reverse the vehicle along the reverse driving path. 
 
 
     
     
       2. The apparatus of  claim 1 , wherein the controller is configured to:
 correct the location information by matching the location information with the map information and the processing result of the image data while the vehicle moves forward and detects the movement trace from the corrected location information, and 
 generate the driving path that matches the entire movement trace and determines the driving path as the reverse driving path. 
 
     
     
       3. The apparatus of  claim 1 , wherein the controller is configured to:
 store a movement trace corresponding to a preset reference distance in the detected movement trace and updates the stored movement trace in a unit of the reference distance while the vehicle moves forward, and 
 generate a driving path that matches the movement trace and determines the driving path as the reverse driving path. 
 
     
     
       4. The apparatus of  claim 1 , wherein the controller is configured to generate a driving path corresponding to the movement trace through the map information at the location of the vehicle and determines the driving path as the reverse driving path. 
     
     
       5. The apparatus of  claim 1 , wherein the controller is configured to generate a first driving path that matches the movement trace and a second driving path corresponding to the movement trace through the map information at the location of the vehicle, select one of the first driving path and the second driving path, and determine the selected driving path as the reverse driving path. 
     
     
       6. The apparatus of  claim 1 , wherein the reverse driving request signal contains indication information indicating a target point, and
 the controller is configured to identify the target point from the indication information and determines a path from the location of the vehicle to the target point in the generated driving path as the reverse driving path. 
 
     
     
       7. The apparatus of  claim 1 , wherein the controller is further configured to generate a local path, based on at least one of the processing result of the image data and driving information of the vehicle. 
     
     
       8. The apparatus of  claim 1 , wherein the controller is configured to control movement of the vehicle by calculating at least one of a target acceleration, a target speed, and a target steering angle. 
     
     
       9. The apparatus of  claim 1 , wherein, when the restricted driving area is identified, the controller is configured to first perform at least one control of deceleration control for decelerating the vehicle and warning control for providing a warning. 
     
     
       10. An apparatus for controlling a reverse driving, the apparatus comprising:
 an image sensor operable to be disposed at a vehicle so as to have a field of view of an exterior of the vehicle, the image sensor being configured to capture image data; 
 a non-image sensor operable to be disposed on the vehicle so as to have a field of sensing of an exterior of the vehicle, the non-image sensor being configured to capture sensing data; 
 a location information receiver configured to receive location information of the vehicle; and 
 a domain control unit comprising a processor configured to process at least one piece of the image data captured by the image sensor and the sensing data captured by the non-image sensor and the location information, 
 wherein the domain control unit configured to: 
 detect and store a movement trace of the vehicle moving forward, 
 identify a restricted driving area, based on at least one of the processing result of the image data, the location information, and pre-stored map information, 
 identify whether a reverse driving request signal is received when the restricted driving area is identified, generates one or more driving paths, based on, the stored movement trace when the reverse driving request signal is received, determines the reverse driving path, based on the one or more driving paths, and 
 control movement of the vehicle to reverse the vehicle along the reverse driving path. 
 
     
     
       11. A method of controlling a reverse driving, the method comprising:
 detecting and storing a movement trace of a vehicle moving forward; 
 identifying a restricted driving area, based on at least one of a processing result of image data, location information, and pre-stored map information; 
 identifying whether a reverse driving request signal is received when the restricted driving area is identified, generating one or more driving paths, based on, the stored movement trace when the reverse driving request signal is received, and determining the reverse driving path, based on the one or more driving paths; and 
 controlling movement of the vehicle to reverse the vehicle along the reverse driving path, 
 wherein the controlling of movement of the vehicle to reverse the vehicle along the reverse driving path comprises:
 detecting and storing the movement trace of the vehicle moving forward by a movement trace storage unit; 
 identifying a restricted driving area, based on at least one of the processing result of the image data, the location information, and pre-stored map information by a restricted driving area identifier; 
 identifying whether a reverse driving request signal is received when the restricted driving area is identified, generate one or more driving paths, based on, the stored movement trace when the reverse driving request signal is received, and determine the reverse driving path, based on the one or more driving paths by a reverse driving path determiner; and 
 controlling movement of the vehicle to reverse the vehicle along the reverse driving path by a movement controller. 
 
 
     
     
       12. The method of controlling a reverse driving according to  claim 11 ,
 correcting the location information by matching the location information with the map information and the processing result of the image data while the vehicle moves forward and detects the movement trace from the corrected location information, and the reverse driving path determiner generates the driving path that matches the entire movement trace and determines the driving path as the reverse driving path by the movement trace storage unit. 
 
     
     
       13. The method of controlling a reverse driving according to  claim 11 ,
 wherein generating a driving path corresponding to the movement trace through the map information at the location of the vehicle and determines the driving path as the reverse driving path by the reverse driving path determiner. 
 
     
     
       14. The method of controlling a reverse driving according to  claim 11 ,
 wherein generating a first driving path that matches the movement trace and a second driving path corresponding to the movement trace through the map information at the location of the vehicle, selects one of the first driving path and the second driving path, and determines the selected driving path as the reverse driving path by the reverse driving path determiner. 
 
     
     
       15. The method of controlling a reverse driving according to  claim 11 ,
 wherein the reverse driving request signal contains indication information indicating a target point, and identifies the target point from the indication information and determines a path from the location of the vehicle to the target point in the generated driving path as the reverse driving path by the reverse driving path determiner. 
 
     
     
       16. The method of controlling a reverse driving according to  claim 11 ,
 further comprising to generate a local path, based on at least one of the processing result of the image data and driving information of the vehicle by a local path generator. 
 
     
     
       17. The method of controlling a reverse driving according to  claim 11 ,
 Wherein controlling movement of the vehicle by calculating at least one of a target acceleration, a target speed, and a target steering angle by the movement controller. 
 
     
     
       18. The method of controlling a reverse driving according to  claim 11 ,
 wherein, when the restricted driving area is identified, first performing at least one control of deceleration control for decelerating the vehicle and warning control for providing a warning by the movement controller.